System And Method For Stabilizing An Image
First Claim
1. System for producing a stabilized image of a scene viewed by an image detector, the image detector detecting a plurality of images of the scene, the image detector being supported by gimbals, the gimbals including a servo system for moving the gimbals at least one degree of freedom, the system comprising:
- an angular movement detection device firmly coupled with said image detector, said angular movement detection device detecting at least a portion of angular movements of said image detector about at least one axis of rotation, said angular movement detection device producing an angular output respective of said at least one portion; and
a processor coupled with said angular movement detection device and with said image detector, said processor receiving said images from said image detector, and said angular output from said angular movement detection device, said processor determining at least one shifting displacement and at least one shifting direction for shifting a current image detected by said image detector, relative to a reference image of said scene detected by said image detector, according to said angular output, said processor producing said stabilized image, by shifting said current image by said at least one shifting displacement and in said at least one shifting direction.
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Accused Products
Abstract
System for producing a stabilized image of a scene viewed by an image detector, the image detector detecting a plurality of images of the scene, the image detector being supported by gimbals, the gimbals including a servo system for moving the gimbals at least one degree of freedom, the system including an angular movement detection device firmly coupled with the image detector, and a processor coupled with the angular movement detection device and with the image detector, the angular movement detection device detecting at least a portion of angular movements of the image detector about at least one axis of rotation, the angular movement detection device producing an angular output respective of the portion, the processor receiving the images from the image detector, and the angular output from the angular movement detection device, the processor determining at least one shifting displacement and at least one shifting direction for shifting a current image detected by the image detector, relative to a reference image of the scene detected by the image detector, according to the angular output, the processor producing the stabilized image, by shifting the current image by the shifting displacement and in the shifting direction.
186 Citations
64 Claims
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1. System for producing a stabilized image of a scene viewed by an image detector, the image detector detecting a plurality of images of the scene, the image detector being supported by gimbals, the gimbals including a servo system for moving the gimbals at least one degree of freedom, the system comprising:
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an angular movement detection device firmly coupled with said image detector, said angular movement detection device detecting at least a portion of angular movements of said image detector about at least one axis of rotation, said angular movement detection device producing an angular output respective of said at least one portion; and a processor coupled with said angular movement detection device and with said image detector, said processor receiving said images from said image detector, and said angular output from said angular movement detection device, said processor determining at least one shifting displacement and at least one shifting direction for shifting a current image detected by said image detector, relative to a reference image of said scene detected by said image detector, according to said angular output, said processor producing said stabilized image, by shifting said current image by said at least one shifting displacement and in said at least one shifting direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 61, 62)
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39. Method for producing a stabilized image of a scene viewed by an image detector, the method comprising the procedures of:
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producing a reference angular output respective of at least a portion of angular movements of said image detector, said reference angular output being associated with a reference image of said scene detected by said image detector; producing a current angular output respective of said at least one portion, said current angular output being associated with a current image of said scene detected by said image detector; determining at least one shifting displacement and at least one shifting direction, for shifting said current image relative to said reference image, by comparing said current angular output with said reference angular output; and shifting said current image by said at least one shifting displacement and in said at least one shifting direction. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 63, 64)
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57. System for producing a stabilized image of a scene viewed by an image detector, the image detector detecting a plurality of images of the scene, the image detector being supported by gimbals, the gimbals including a servo system for moving the gimbals at least one degree of freedom, the system comprising:
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a first angular movement detection device firmly coupled with said image detector, said first angular movement detection device detecting at least a portion of angular movements of said image detector about at least one axis of rotation, said first angular movement detection device producing a first angular output respective of said at least one portion; a processor coupled with said first angular movement detection device and with said image detector, said processor receiving said images from said image detector, and said first angular output from said first angular movement detection device, said processor determining at least one first shifting displacement and at least one first shifting direction for shifting a current image detected by said image detector, relative to a reference image of said scene detected by said image detector, according to said first angular output, said processor producing said stabilized image, by shifting said current image by said at least one first shifting displacement and in said at least one first shifting direction, said processor detecting at least one displacement of said current image relative to a previous image included in said images, in at least one direction, said processor determining at least one second shifting displacement to shift said current image relative to said previous image, in at least one second shifting direction substantially opposite to said at least one direction, said processor shifting said current image by said at least one second shifting displacement, in said at least one second direction; a second angular movement detection device coupled with said image detector, said second angular movement detection device detecting at least another portion of said angular movements, said second angular movement detection device producing a second angular output respective of said at least other portion; and a movement processor coupled with said second angular movement detection device and with said servo system, said movement processor determining at least one compensating movement for said image detector, according to said second angular output, said servo system moving said image detector according to said at least one compensating movement.
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58. Device for producing a stabilized image of a scene viewed by an image detector, the image detector detecting a plurality of images of the scene, the image detector being supported by gimbals, the gimbals including a servo system, a first angular movement detection device, and a movement processor, the servo system moving the gimbals at least one degree of freedom, the first angular movement detection device detecting at least one portion of angular movements of the image detector, the angular movement detection device producing a first angular output respective of the at least one portion, the movement processor determining at least one compensating movement for the image detector, according to the first angular output, the servo system moving the image detector according to the at least one compensating movement, the system further including a first processor receiving the images from the image detector, the first processor detecting at least one displacement of a current image of the scene detected by the image detector, relative to a previous image included in the images, in at least one direction, the first processor determining at least one first shifting displacement to shift the current image relative to the previous image, in at least one first shifting direction substantially opposite to the at least one direction, the first processor shifting the current image by the at least one first shifting displacement, in the at least one first direction, the device comprising:
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a second angular movement detection device firmly coupled with said image detector, said second angular movement detection device detecting at least another portion of said angular movements, said second angular movement detection device producing a second angular output respective of said at least other portion; and a second processor coupled with said second angular movement detection device, said image detector, and with said first processor, said second processor receiving said images from said image detector, and said second angular output from said second angular movement detection device, said second processor determining at least one second shifting displacement and at least one second shifting direction for shifting said current image, relative to a reference image of said scene detected by said image detector, according to said second angular output, said second processor producing said stabilized image, by shifting said current image by said at least one second shifting displacement and in said at least one second shifting direction.
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59. Apparatus for viewing a substantially blur-free image of a scene, the apparatus comprising:
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an optical assembly; and a system for producing a stabilized image of said scene viewed by an image detector, said image detector detecting a plurality of images of said scene, said image detector being supported by gimbals, said gimbals including a servo system for moving said gimbals at least one degree of freedom, said apparatus comprising; an angular movement detection device firmly coupled with said image detector, said angular movement detection device detecting at least a portion of angular movements of said image detector about at least one axis of rotation, said angular movement detection device producing an angular output respective of said at least one portion; and a processor coupled with said angular movement detection device and with said image detector, said processor receiving said images from said image detector, and said angular output from said angular movement detection device, said processor determining at least one shifting displacement and at least one shifting direction for shifting a current image detected by said image detector, relative to a reference image of said scene detected by said image detector, according to said angular output, said processor producing said stabilized image, by shifting said current image by said at least one shifting displacement and in said at least one shifting direction. - View Dependent Claims (60)
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Specification